#ifndef _PID_H_
#define _PID_H_

#include <stc15.h>
#include <chaog.h>
#include <time.h>
#include <stdio.h>
#include <waishe.h>

#define uint unsigned int
#define uchar unsigned char

#define tx P20
#define rx P21


#define pwm P32
#define pwm_one P37

#define left_vcc P14
#define left_gnd P15
#define rigth_vcc P16
#define rigth_gnd P17

float pid_value(float speed);
//#define front_left_vcc P10
//#define front_left_gnd P11
//#define front_right_vcc P12
//#define front_right_gnd P13
//#define back_left_vcc P14
//#define back_left_gnd P15
//#define back_right_vcc P16
//#define back_right_gnd P17

//#define front_left_pwm P32
//#define front_right_pwm P33
//#define back_left_pwm P34
//#define back_right_pwm P35



#endif